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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pub-attribs">Public 属性</a> &#124;
<a href="classpcl_1_1visualization_1_1_camera-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::visualization::Camera类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1visualization_1_1_camera.html" title="Camera class holds a set of camera parameters together with the window pos/size.">Camera</a> class holds a set of camera parameters together with the window pos/size.  
 <a href="classpcl_1_1visualization_1_1_camera.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="visualization_2include_2pcl_2visualization_2common_2common_8h_source.html">common.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a95690083976fadceef550993152424d7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_camera.html#a95690083976fadceef550993152424d7">computeViewMatrix</a> (Eigen::Matrix4d &amp;view_mat) const</td></tr>
<tr class="memdesc:a95690083976fadceef550993152424d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes View matrix for <a class="el" href="classpcl_1_1visualization_1_1_camera.html" title="Camera class holds a set of camera parameters together with the window pos/size.">Camera</a> (Based on gluLookAt)  <a href="classpcl_1_1visualization_1_1_camera.html#a95690083976fadceef550993152424d7">更多...</a><br /></td></tr>
<tr class="separator:a95690083976fadceef550993152424d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af27011f59e37e2aceadab57097a04df1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_camera.html#af27011f59e37e2aceadab57097a04df1">computeProjectionMatrix</a> (Eigen::Matrix4d &amp;proj) const</td></tr>
<tr class="memdesc:af27011f59e37e2aceadab57097a04df1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes Projection Matrix for <a class="el" href="classpcl_1_1visualization_1_1_camera.html" title="Camera class holds a set of camera parameters together with the window pos/size.">Camera</a>  <a href="classpcl_1_1visualization_1_1_camera.html#af27011f59e37e2aceadab57097a04df1">更多...</a><br /></td></tr>
<tr class="separator:af27011f59e37e2aceadab57097a04df1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a76fd4a9bc930b999672c81b0af63967d"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a76fd4a9bc930b999672c81b0af63967d"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_camera.html#a76fd4a9bc930b999672c81b0af63967d">cvtWindowCoordinates</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt, Eigen::Vector4d &amp;window_cord) const</td></tr>
<tr class="memdesc:a76fd4a9bc930b999672c81b0af63967d"><td class="mdescLeft">&#160;</td><td class="mdescRight">converts point to window coordiantes  <a href="classpcl_1_1visualization_1_1_camera.html#a76fd4a9bc930b999672c81b0af63967d">更多...</a><br /></td></tr>
<tr class="separator:a76fd4a9bc930b999672c81b0af63967d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8fe32ab538acf993fca18d13c7a6d988"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a8fe32ab538acf993fca18d13c7a6d988"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_camera.html#a8fe32ab538acf993fca18d13c7a6d988">cvtWindowCoordinates</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt, Eigen::Vector4d &amp;window_cord, const Eigen::Matrix4d &amp;composite_mat) const</td></tr>
<tr class="memdesc:a8fe32ab538acf993fca18d13c7a6d988"><td class="mdescLeft">&#160;</td><td class="mdescRight">converts point to window coordiantes  <a href="classpcl_1_1visualization_1_1_camera.html#a8fe32ab538acf993fca18d13c7a6d988">更多...</a><br /></td></tr>
<tr class="separator:a8fe32ab538acf993fca18d13c7a6d988"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public 属性</h2></td></tr>
<tr class="memitem:a20170f1d6dfb797dbb7ba60096c8c896"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_camera.html#a20170f1d6dfb797dbb7ba60096c8c896">focal</a> [3]</td></tr>
<tr class="memdesc:a20170f1d6dfb797dbb7ba60096c8c896"><td class="mdescLeft">&#160;</td><td class="mdescRight">Focal point or lookAt.  <a href="classpcl_1_1visualization_1_1_camera.html#a20170f1d6dfb797dbb7ba60096c8c896">更多...</a><br /></td></tr>
<tr class="separator:a20170f1d6dfb797dbb7ba60096c8c896"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad9b024515f18652880bd494e478c8ddf"><td class="memItemLeft" align="right" valign="top"><a id="ad9b024515f18652880bd494e478c8ddf"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_camera.html#ad9b024515f18652880bd494e478c8ddf">pos</a> [3]</td></tr>
<tr class="memdesc:ad9b024515f18652880bd494e478c8ddf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Position of the camera. <br /></td></tr>
<tr class="separator:ad9b024515f18652880bd494e478c8ddf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf4aba3f365066c8920d4f37dc1fa628"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_camera.html#adf4aba3f365066c8920d4f37dc1fa628">view</a> [3]</td></tr>
<tr class="memdesc:adf4aba3f365066c8920d4f37dc1fa628"><td class="mdescLeft">&#160;</td><td class="mdescRight">Up vector of the camera.  <a href="classpcl_1_1visualization_1_1_camera.html#adf4aba3f365066c8920d4f37dc1fa628">更多...</a><br /></td></tr>
<tr class="separator:adf4aba3f365066c8920d4f37dc1fa628"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1f5533eb7bffb4442518ae89c1ecd407"><td class="memItemLeft" align="right" valign="top"><a id="a1f5533eb7bffb4442518ae89c1ecd407"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_camera.html#a1f5533eb7bffb4442518ae89c1ecd407">clip</a> [2]</td></tr>
<tr class="memdesc:a1f5533eb7bffb4442518ae89c1ecd407"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clipping planes depths. clip[0] is near clipping plane, and clip [1] is the far clipping plane <br /></td></tr>
<tr class="separator:a1f5533eb7bffb4442518ae89c1ecd407"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a95c70cf6a09f3b6a482705151bec6764"><td class="memItemLeft" align="right" valign="top"><a id="a95c70cf6a09f3b6a482705151bec6764"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_camera.html#a95c70cf6a09f3b6a482705151bec6764">fovy</a></td></tr>
<tr class="memdesc:a95c70cf6a09f3b6a482705151bec6764"><td class="mdescLeft">&#160;</td><td class="mdescRight">Field of view angle in y direction (radians). <br /></td></tr>
<tr class="separator:a95c70cf6a09f3b6a482705151bec6764"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1765b18d62955f524f3ea5bd7bc04c1c"><td class="memItemLeft" align="right" valign="top"><a id="a1765b18d62955f524f3ea5bd7bc04c1c"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>window_size</b> [2]</td></tr>
<tr class="separator:a1765b18d62955f524f3ea5bd7bc04c1c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d3d137c44c452239f6c89fd13680c3a"><td class="memItemLeft" align="right" valign="top"><a id="a1d3d137c44c452239f6c89fd13680c3a"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>window_pos</b> [2]</td></tr>
<tr class="separator:a1d3d137c44c452239f6c89fd13680c3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><a class="el" href="classpcl_1_1visualization_1_1_camera.html" title="Camera class holds a set of camera parameters together with the window pos/size.">Camera</a> class holds a set of camera parameters together with the window pos/size. </p>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="af27011f59e37e2aceadab57097a04df1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af27011f59e37e2aceadab57097a04df1">&#9670;&nbsp;</a></span>computeProjectionMatrix()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::visualization::Camera::computeProjectionMatrix </td>
          <td>(</td>
          <td class="paramtype">Eigen::Matrix4d &amp;&#160;</td>
          <td class="paramname"><em>proj</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Computes Projection Matrix for <a class="el" href="classpcl_1_1visualization_1_1_camera.html" title="Camera class holds a set of camera parameters together with the window pos/size.">Camera</a> </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">proj</td><td>the resultant matrix </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a95690083976fadceef550993152424d7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a95690083976fadceef550993152424d7">&#9670;&nbsp;</a></span>computeViewMatrix()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::visualization::Camera::computeViewMatrix </td>
          <td>(</td>
          <td class="paramtype">Eigen::Matrix4d &amp;&#160;</td>
          <td class="paramname"><em>view_mat</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Computes View matrix for <a class="el" href="classpcl_1_1visualization_1_1_camera.html" title="Camera class holds a set of camera parameters together with the window pos/size.">Camera</a> (Based on gluLookAt) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">view_mat</td><td>the resultant matrix </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a76fd4a9bc930b999672c81b0af63967d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a76fd4a9bc930b999672c81b0af63967d">&#9670;&nbsp;</a></span>cvtWindowCoordinates() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void Camera::cvtWindowCoordinates </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>pt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector4d &amp;&#160;</td>
          <td class="paramname"><em>window_cord</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>converts point to window coordiantes </p>
<p>Converts point to window coordinates</p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>xyz point to be converted </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">window_cord</td><td>vector containing the pts' window X,Y, Z and 1</td></tr>
  </table>
  </dd>
</dl>
<p>This function computes the projection and view matrix every time. It is very inefficient to use this for every point in the point cloud!</p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>xyz point to be converted </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">window_cord</td><td>vector containing the pts' window X,Y, Z and 1 </td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>This function computes the projection and view matrix every time. It is very inefficient to use this for every point in the point cloud! </dd></dl>
<div class="fragment"><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    {</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      Eigen::Matrix4d proj, <a class="code" href="classpcl_1_1visualization_1_1_camera.html#adf4aba3f365066c8920d4f37dc1fa628">view</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      this-&gt;<a class="code" href="classpcl_1_1visualization_1_1_camera.html#a95690083976fadceef550993152424d7">computeViewMatrix</a> (view);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      this-&gt;<a class="code" href="classpcl_1_1visualization_1_1_camera.html#af27011f59e37e2aceadab57097a04df1">computeProjectionMatrix</a> (proj);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      this-&gt;<a class="code" href="classpcl_1_1visualization_1_1_camera.html#a76fd4a9bc930b999672c81b0af63967d">cvtWindowCoordinates</a> (pt, window_cord, proj*<a class="code" href="classpcl_1_1visualization_1_1_camera.html#adf4aba3f365066c8920d4f37dc1fa628">view</a>);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    }</div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_camera_html_a76fd4a9bc930b999672c81b0af63967d"><div class="ttname"><a href="classpcl_1_1visualization_1_1_camera.html#a76fd4a9bc930b999672c81b0af63967d">pcl::visualization::Camera::cvtWindowCoordinates</a></div><div class="ttdeci">void cvtWindowCoordinates(const PointT &amp;pt, Eigen::Vector4d &amp;window_cord) const</div><div class="ttdoc">converts point to window coordiantes</div><div class="ttdef"><b>Definition:</b> common.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_camera_html_a95690083976fadceef550993152424d7"><div class="ttname"><a href="classpcl_1_1visualization_1_1_camera.html#a95690083976fadceef550993152424d7">pcl::visualization::Camera::computeViewMatrix</a></div><div class="ttdeci">void computeViewMatrix(Eigen::Matrix4d &amp;view_mat) const</div><div class="ttdoc">Computes View matrix for Camera (Based on gluLookAt)</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_camera_html_adf4aba3f365066c8920d4f37dc1fa628"><div class="ttname"><a href="classpcl_1_1visualization_1_1_camera.html#adf4aba3f365066c8920d4f37dc1fa628">pcl::visualization::Camera::view</a></div><div class="ttdeci">double view[3]</div><div class="ttdoc">Up vector of the camera.</div><div class="ttdef"><b>Definition:</b> common.h:160</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_camera_html_af27011f59e37e2aceadab57097a04df1"><div class="ttname"><a href="classpcl_1_1visualization_1_1_camera.html#af27011f59e37e2aceadab57097a04df1">pcl::visualization::Camera::computeProjectionMatrix</a></div><div class="ttdeci">void computeProjectionMatrix(Eigen::Matrix4d &amp;proj) const</div><div class="ttdoc">Computes Projection Matrix for Camera</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a8fe32ab538acf993fca18d13c7a6d988"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8fe32ab538acf993fca18d13c7a6d988">&#9670;&nbsp;</a></span>cvtWindowCoordinates() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void Camera::cvtWindowCoordinates </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>pt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector4d &amp;&#160;</td>
          <td class="paramname"><em>window_cord</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix4d &amp;&#160;</td>
          <td class="paramname"><em>composite_mat</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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      </table>
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<p>converts point to window coordiantes </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>xyz point to be converted </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">window_cord</td><td>vector containing the pts' window X,Y, Z and 1 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">composite_mat</td><td>composite transformation matrix (proj*view)</td></tr>
  </table>
  </dd>
</dl>
<p>Use this function to compute window coordinates with a precomputed transformation function. The typical composite matrix will be the projection matrix * the view matrix. However, additional matrices like a camera disortion matrix can also be added.</p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>xyz point to be converted </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">window_cord</td><td>vector containing the pts' window X,Y, Z and 1 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">composite_mat</td><td>composite transformation matrix (proj*view)</td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>Use this function to compute window coordinates with a pre-computed transformation function. The typical composite matrix will be the projection matrix * the view matrix. However, additional matrices like a camera distortion matrix can also be added. </dd></dl>
<div class="fragment"><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      Eigen::Vector4d pte (pt.x, pt.y, pt.z, 1);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      window_cord = composite_mat * pte;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      window_cord = window_cord/window_cord (3);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      window_cord[0] = (window_cord[0]+1.0) / 2.0*window_size[0];</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      window_cord[1] = (window_cord[1]+1.0) / 2.0*window_size[1];</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      window_cord[2] = (window_cord[2]+1.0) / 2.0;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    }</div>
</div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">类成员变量说明</h2>
<a id="a20170f1d6dfb797dbb7ba60096c8c896"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a20170f1d6dfb797dbb7ba60096c8c896">&#9670;&nbsp;</a></span>focal</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double pcl::visualization::Camera::focal[3]</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Focal point or lookAt. </p>
<dl class="section note"><dt>注解</dt><dd>The view direction can be obtained by (focal-pos).normalized () </dd></dl>

</div>
</div>
<a id="adf4aba3f365066c8920d4f37dc1fa628"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adf4aba3f365066c8920d4f37dc1fa628">&#9670;&nbsp;</a></span>view</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double pcl::visualization::Camera::view[3]</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Up vector of the camera. </p>
<dl class="section note"><dt>注解</dt><dd>Not to be confused with the view direction, bad naming here. </dd></dl>

</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>visualization/include/pcl/visualization/common/<a class="el" href="visualization_2include_2pcl_2visualization_2common_2common_8h_source.html">common.h</a></li>
<li>visualization/include/pcl/visualization/common/impl/<a class="el" href="visualization_2include_2pcl_2visualization_2common_2impl_2common_8hpp_source.html">common.hpp</a></li>
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